Work manipulator



Jan. 24, 1950 H. P. BENTLEY Er-AL 2,495,438

WORK MANIPULATOR Filed May 29, 1946 3 Sheets-Sheet 1 Jan- 24, 1950 H. P. BENTLEY ETAL 2,495,438

WORK MANIPULATOR Filed MayY 29, 1946 3 Sheets-Sheet 2 1N V EN TORS I Haiold l. Een 2157 BY MMM Jan. 24, 1950 v H, BENTLEY ETAL 2,495,438

WORK MANIPULATOR 3 Sheets-Sheet 3 Filed May 29, 1946 VZFM ATTORNEY Patented Jan. 24, 1950 WORK MANIPULATOR Harold P. Bentley and Ralph P. La Vonier, Syra-n cuse, N, Y., assignors toBentley Weldery, Inc., Syracuse, N. Y., a corporation of New York Application May 29, 194.6, Serial No. 673,049 I 1 l The invention relates to improvements in work manipulators, and, more particularly, to workV should be capable of 'use in connection with work varying widely in'shape and *varying in Weight from a few pounds to several hundred pounds and also should be capable of imparting a widev variety of movements and positions to the work.

The general purposes ofthe invention are to provide a workY manipulator of the kind above set forth wherebywelding, grinding, assembly or other operations may be easily, conveniently and' safely performed` on workV varying widely in shape and weight; whereby the work mounted in the manipulator may be readily and easily positioned by hand in one or more of a wide variety of positions for convenient performance ofthe required operation or operations by a workman or workmen; and whereby there is provided a work j manipulator characterized .by sturdiness and:

compactness and by va high degree of accessibility by a workman to the supported-work and by a safe and durable rotative and tiltable mount forl the work supporting head ofthe manipula-tor;

A further purpose of the invention is to provide f a work manipulator of the kind set forth having improved means for supporting a work vholder or vhead for rotation about an axis and for vari- .y abletilting of the axis of rotation of said holder or head. v Y A further purpose of the-invention isto provide a work manipulator of the kind set' forth having improved means for supporting work in such manner that thework may be rotated about one axis and tilted about a second axis with said axes intersecting at an angle of less than 90 degrees at, or substantiallyat, the center `of massv of th'e sup-ported work', and, particularly,

to provide a manipulator having simple and: safe means for adjusting the pointof intersection of saidaxes to coincide with the combined center of mass of the particular work and of the parts-y tion will appear from the following description in detail of the illustrative embodiments ofthe invention shown inl the accompanying drawings..

h1 the drawings:

,Figure 1 is a sideelevation of a work manipu?.

axes tov shift the position ofA lator embodying the invention, showingv the manipulator in loading position in full lines and .i in a different position in dotted lines;

Figure 2 is a top plan View showing the `manip 1 ulator in loading position in full lines and shoW- ing the manipulator in two other adjusted positions thereof in dotted lines; T

Figure 3 is a detail sectional view of the manip-.. ulator on the line 3 3 of Figure 1; j:

Figure 4 is a detail sectional view on the line- 4-4 of Figure 2;

Figure 5 is a detailsectional view on the line; 5--5 of Figure 1;

Figure 6 is a fragmentary side elevation of Y the manipulator showing schematically how the` manipulator may be adjusted for tilting and rotation of work about the center of mass of the.

Work;

Figure '7 is a view of a modified formr of theY manipulator embodying only certain of the parts of the manipulator shown in Figures 1 to 6;

Figure 8 is a perspective view showing a modi--l fied form of work supporting head or face plate; and

Figure 9 is a fragmentary sectional view on the line 9-9 of Figure 8. Y

The manipulator asV shown in Figures 1 to 6 rst will be described, said manipulator beingA constructed of metal parts. The manipulator has a rigid frame or support comprising a vertically disposed pedestal or column I0 and a T-shaped ground or floor engaging base. The T-shapedv base comprises two straight lengths of tubing II and I2 welded or otherwise rigidly united, part` II forming the stem-and part I2 the cross-memberV of the T-shaped base. The column I0 is of" hollow construction', Vand is of square cross-section internally and externally thereof and is welded or otherwise rigidly affixed at its lowerf end to the base II--I2 at the juncture of parts.A II and I2 of the base; The ends of the tubular members II and I2 of the base are preferably' closedrby angle plates I3 welded or otherwise axed thereto, preferably with a part of each `plate disposed below the plane of members II and I2 as shown'to afford three spaced ground contact points on the base. Two opposed corners of the rectangular column I0 are aligned in the vertical plane of the axis of stem part II-of the base. The column I0 may be of integral form, or may be formed by-welding two angle irons together. 1 1 A post I4, which Vmay be solid, but preferably is of tubular form as shown, is'verticallyslidably adjustable in column I0, the external diameter of A yoke-like resilient metal clamping member I l embraces post I4 at the upper end of column t0 and is rigidly held to the upper end of column of housing 34 to rotate and retract the plunger from an engaged one of the holes 33 and frictionally hold the plunger in retracted position when said knob is manually turned out of the position shown.

A straight telescopically extensible and contractible arm is rigidly held at one end thereof tothe.v headi 35i of. spindie 21? at" the face: of said head' opposite that to whichI disk 3I is clamped. This extensible arm and the spindle 21 are turnable as a unit and are arranged at such an angle vto. eachother that the axial lines of the arm and spindle lie in the same plane and intersect at the I0 for about half way around-the postiand columnv preferably by welding saidelampv to the upper end edge of column I0 from point'Wto point W.

The post I4 may be frictionally: held; in different;A i

adjusted positions and may be released for adjustment by turning a bolt I'l which extends loosely through one leg, of the clamping member I6. and. is threadedA in the otherleg: of thev n'rembier` aty |28?. Preferabiy'a handle IS; is weldedi or otherwise xedtothehead' of bolt ll: tofacili.- tate. turning of: the bolt to tighten and loosen the grin` ofi theclamping member. IIBT on. post I4.

To'. positively lock the postY I4Lin: predetermined adjusted positions, a row ot vertically spaced holes i areprovided in thepost, anda-locking plunger 2| is mounted in a. housing 2 2`carried by column' I=0f adjacentthe upper end ofthe column for engagement of the reduced inner endLof the plunger inany selected one` of saidholes.` A spring 23 urges the plunger to locking position, and the outer end or the plungerprotrudes'from the'housing andlhasa cross-bar or handle 24 held thereto i for retracting the-plunger-to permit adjustment of'7 the post I4.

Extendingvacross and fixed to the upper endof post I4 isa cylindrical sleevev 2-5 which, intermedia-teits ends, is welded; or otherwiserigidl'y` secured to the upperend of the post, andv which is inclinedi'a-t an angle to the horizontal plane' of the# base I*I-I-2l. Fitting in; opposite ends of thev sleeve 25 are two tubular bearing bushings 26 for af short spindle 2-l which extends through the.

sleeve, each bushing having at itsouter' end a circumferential end-thrustftaking flange. abutting-the adjacent endv of the sleeve. One end of the: spindle projects slightly' from the lower end of the inclined sleeve and' has a collar 28 held.

thereto by a pin 29 to abut the ange of the adjacent bushing. The other'end'of the spindle projectsv slightly fro-mth@ higher end of the sleeve and" has a disl{-like and centrally apertured headv 3l]i welded or' otherwise rigidly secured thereto and abutting the iiange of the adjacent bushing..

A d'iametri'cally divided' and centrally apertured.v disk 3I loosely encircles the latter bushing and is.v

the spindle. A spring 36 normally urges ther,

plunger to. latching; position. The other endV of the plunger protrudes from the housing and. has'.

xed thereto by a pinA 31 a. diskflikebutton or knob-38 having acam face'38# inclined. toiitsiax-isf and rotative; in contact, with an inclinedatacex34l juncture.- plane. ofthe arm and head 33, so that fi W-hen the unit" is' turned in its bearings in sleeve 25 the outer endor' the extensible arm will travel in ar circular. pathV around the axial line of the spindle 21'.

The two telescopically intertted members of the telescopically extensible and contractible arm consistsot a hollow or: tubular. arm member 33 o-f square cross-section; and: a hollow or tubular arm;l member- 46 off:` cylindrical cross-section. Member.-

33: corresponds'. in. construction. and. cross-sectional. shape and. dimensions to pedestal Illv and has; a beveledgend' thereof. welded or: otherwise rigidly held tothe outer faceo head 3i) of spindle- 2lf.. Member 4i]y correspondsinconstruction and. cross-sectional shapeA and dimensions. to post I4-v andslides in and outinmemberSB. Member 40.. is. providedv with; af' shortfkey 44 extendingY longi` tudnally thereof: adiacent'its innerend. and. welded` or.A otherwise securedtheretoI to slide' in onecorner of member 3.9;, said; keycorresponding.

shape-.and dimensions to key- I5; To prevent.l accidental withdravval;ofmember 4I) entirely out,

of. member 39, arstop: pin 501 (Figurer D may be. threaded' into.Y memberv 39 for engagement by key 44..

`Member- 39. has mountedA at its outerV end, and; embracing; member 41kl a. clamp comprising a.v

yoke-lilre:- resilient; clamping: member 4I., bolt 42" and boltihantller 43,. said clamp beingV identical in. construction, with the. clamp I6-I;1-I8-I^9.

and having. member 4I thereof Welded' part: way1v therearound to: the. outer:r end edge ofi member:`

39finthe:A same way thatmember Hi isA weldedto 4 .spring 41: and; handlers); corresponding` in construction to.Vv the: spring pressed latch 21:--2 3`-24,;.

andi` mounted: in aahousingi49=welded or; otl'ierwise held to members@ near'. the outer' end of the. lat-vk ter, said: housing corresponding to. housing: 22. of.

and holes.. ',Y the: armmember` 40 may,y be. posi.-1

tively. locked. to arm member: 39 in. predeterminedk adjusted positions.,

A shortL cylindrical. bearing sleeve 5|'. forV the arm 39-40. Fitted in opposite ends of the sleeve:- 5I are. two. cylindrical? bearing bushings 52 similar-to.: bearing bushings-26 in bearing sleeve 25 andi havingv at their outer; ends thrust-receiving circumferential anges abutting the respective ends of sleeve 5I. A short spindle' '.53` is journaled; in4 said bushings-52 andi extends; through sleeve with its ends protruding slightly from.

the ends of the sleeve. A collar 54, which is fixed4 Y on one end of the spind1e'53- by a pin 55, abuts the flange of one of the bushings 52, and one face of a disk-like head 56 abuts the flange of the other bushing. Head 56 is welded or otherwise rigidly held to the adjacent end of spindle 53 and forms a support for a detachable work, carrying fixture or work holder which, in the` construction shown, is a disk-like face plate 51 clamped to the outer face of head 56 by bolts 58 which pass through the head 56 and arev threaded into said face plate 51. The spindle 53 is-normal to head 56 and face plate 51.

Welded orfotherwise rigidly held to bearing sleeve5| is a housing. 59 in which is mounted aV spring pressed latch for the work holder or `face plate 51, said housingand latch being constructed as in the case of the housing and-latch carried by bearing sleeve 25. The face plate 51,.

is formed concentric with its axis with a circular set of holes 60 to selectively receive the reduced end of latch plunger 6| to positively hold plate 51and spindle 53 and its head 56 in predetermined positions against rotation.Y The tip of the reduced end of plunger 16| is rounded as shown. A spring 62 normally urges the plunger to latching position. A disk-like button or handle 63 is pinned by a pin 64 to the other end of the plunger plate so that the center of mass of the workv fastened to the outer face of the plate may be' located on the axial line of the plate and its spindle 53.

`In ,each ofthe bearing sleeves 25 and 5|, an

annularspace is provided between the spacedv ends of the spindle bushings and between the sleeve and spindle, which space is adapted to receive a supply of lubricant in grease or other' form through a port which is normally closed by'a closure device threaded therein. The closure device for sleeve 25 is designated 66 and that for sleeve 5| is designated 8|.

vEach bearing sleeve 25 and 5| also carries a friction brake for the spindle journaled therein. The two brakes are of identical construction, the

details of such construction being best shown inv Figuref. The brake for spindle 21 comprises a resilient split band A630i .friction producing metal, suchas steel, encircling the spindle in the lubri-4 cant receiving'v space in sleeve 2,5, with the ends of the band spaced slightly apart. Adjacent one end thereof, the band 68 is rigidly anchored to the sleeve 25, as. by a weld 69, and adjacent itsV .other end is provided in itsv outer side with a,l

socket 10 substantiallytangential to the spindle 21. The brake is shown released in Figure 5 and,

tending into socket 10 in band 68. The wall of y the sleeve 25 is preferably thickened by a boss 13M whereV the screw 1| is threaded through the sleeve! By screwing the screw '1| inward, the

band may be contracted to grip the spindle with such pressure as may beV desired to exert variable braking force on the spindle. The parts of the identical brake for spindle 53 in sleeve 5| are designated as follows: 14 is the brake band, 15 is the screw, and 16 is the screw handle.

is designated 11.

`The modifledconstruction shown in Figure 7 consists of a simpler assembly consisting of certain only of the parts of the manipulator above described and shown in Figures 1 to 6. The modied construction provides a manipulator which can be used'where tilting of the axis of rotation,

of the rotatable work carrier or head is not necessary. In this modied assembly of parts above described, the arm member 40 of the manipulator is inserted, as shown, into the pedestal I0 carried by base ||-|2. A manipulator of the construction shown in Figures 1 to 6 may be readily converted vby a user into one constructed as shown in Figure 7.

In Figures 8 and 9 a modified form of detachable work carrier or face plate 51a is shown which may be substituted for the carrier or face plate 51 shown-for each of the above described manipulators. This plate 571iL has a set of threaded holes 18 (similar to holes 58 in plate 51) for attachment thereof to head 56 ofspindle 53 by bolts 58, and

also has a circular set of holes 15 and sockets 8!4 arranged in a single circle concentric with the. center of the plate 51SL for coaction with latch plunger 6|. ures 8 and 9, four equi-spaced holes 19 are provided spaced 90 apart around the center of the plate, these holes being similar to holes 6|) in plate 51 for positive latching of plate 51a by the latch plunger, and intermediate shallow conical or flared sockets are provided in the plate 5l?a between the holes 19 to receive only the outer part of the rounded ytip of the latch plunger 6|. When the rounded'tip of the plunger engages in a socket 86, it exerts only a detent action on the plate so that,lupon forcible rotation of the plate, the plunger will be cammed out of any socket 8|! in which it is engaged and will snap into the next socket 80 or hole 19 (as the case may be) presented thereto. Whenever the plunger engages in one of the four holes 19, the plate will be positively locked until the plunger is manually retracted. Other combinati-ons of holes and/or sockets than those shown obviously may be provided in plates 51 and 51a.

In the manipulator shown in Figures. 1 to 6,

wherein the work Aholding head 51 is turnablel about two-axes which intersect at an acute angle, the fixed angle atwhich these axes intersect is an angle of 671/2 degrees, and the axis of spindle 21 is inclined at a xedangle of 221/2 degrees to the vhorizontal ground engaging plane of the base -|2. This varrangement is highly advantageous for variably positioning the work for many they are so arranged that the two axes always l intersect at axed angle less than degrees in all.adjusted positions ofthe manipulator.

The boss on f sleeve 5| through which the screw 15 is threaded In the construction shown in Fig' agees-ea 'lin using' the?. manipulator; the. to2 bei handled is placed on'- thewcrlt-holding head an'd. secured theretoby suit'abl'ef-known'- means'- ini such*` position. that' thev axiall line. ci?.l the' platei or` work holding head 51101. 57|El and o'f the-spindle 53.' tu which it is iixed` passes' thrcvughr the center` or' mass of the work; The extensible andi contract'- ible arm 39-40 is then adjusted so thatth'e'- axiall li'nel of spindle'. 27? also' passes: throng-hi the'. center of' mass of'the work and' of: the'- a'rm 39L0P and. head all combined. or' approximately' there@ through; so that the'axis'of the-two :sp'indlesfint'ei.'=YV sect at, or approximately: at;V said center' or the`v mass: of` the unirI formed byv the'- work',V arm and head combined. With'the manipulator'so'loaded, theiworkfissta'tically balanced", orsubstantially 'so-v balanced, and no matter'what: theiweight'` offthe"v workf may be, its'i position mayV ba manually' changed' with veryl slight-1eiori-,rloy rotating.' the. work:v holder about its' axis. byturningl the exil-- tensible arm aboutits axi`s,. or'byfboth turning? the head and the arm. It is thus possible to'e'a'sily manipulate ther-mountedlworlii into awi'de' variety of: positions whileL it is':he1d1 to the'zhe'a'd, andth'ei constantly balanced, or substantially.' balanced', support or the work.' by the' manipulator. g-naatlyr reduces danger.- of'v the :work'gettingi: out of controll of the operator.

The, latches illustratedt for.' releasa'bly latching the work holding head andthear-m .392-40 against: rotation, and. the'. friction'. brakes provided? for.' spindles: 211 andi 531 als'o are all highlyfdesirable': For! example; either' or" both` friction brakesimay' be= completely' released, or either or both-brakes: may be appliedwithvarying 'grip'to variably're2- sist' turning' of' the' respective'- spindles orevento* frictionally' grip the' spindles so` tightly-f that'A the.I- spindles are at' least substantially fiictionadl'y' locked' against turning. Eorfexa-mpl'e; also, tliei the arm BGL-459 and'thelwork holding lieadfmaif be' simplyV pulled out"A of' loch-ingy position. andi alf-- lowed to snap into'the nextf'holepresented thereto to'eiiectA a' positive latch, or` either.' ofA said plunge" ers maybe rotated and'retracted'by itsoperating cam handle' or button' and he'ldretracte'd by-'said cam handle after release` of thehandle,

Where' a work' lio'ldingfliead such'- aslh'ead 511 shown in Figures 8 andQl isfemployed; the' latcli' plunger. 6 l' will positively 'lockl' the'- head in f eitlierfr of-several rotated vpositions 'of the yhe'ad'and, inter-'f rne'diate e'achtwo adjacent'on'esfoil the holesv 'llllin" said head, the rounded tip offth'e plunge'r'w-ill seatvv partly in each of thefsockets- Ellllin'saidnead and may.' be cainrned cutlof said sockets successiveiyf by' forcible' Arotation .of' th'e 'f head. Thislatter are rangement permits'po'sitive and impositiva latch-A ing of 'the' head' 5121atlselected'pointmand, as=the+ head is turnedfrom one.positivelbckingfpositiom to another, the operatorcanlfe'el and hea'l` and count vthe engagementsofftheiplungerfin the sock.

ets B and lnOWljuSt'hOWar he ha-s'-turnedth'e*l head.

When the' latch plunger 6]- for' the'- head 5101.' SieV is held locked in'k released positionb'ycits cam' handle' 63, the head'may :be freelygturn'edliy han'di or by the force' ofA a blastof shot,1sand, paintguor' the like, directed .againstworli on theihead; The. positive and impositiva, latching ,means and the braking means. are. usable. in many otherA ways: separately. and. combinedtofimpose.. desiredi reeV str-aints on the. supportediWork'V .to hold; it.' in des sired. fixedpositio1is;.andto. permit controlled: change of. positionV of'y the`.work;fJ asi` mayfbe'e rer quired by the operaticrir or' operations t'o be ptr# frm'edon'thc'work; i

The construction. o'f"the.telescopic:.pedestalcol'f umn l0-| 4r and' off the `telescopic arm 3 gi-dlpermits'- easy relative sliding' of they two telescopedl parts `lof thercolumn' and of the arm without'igreatl precisionof manufacture, and also. provides c1ea'r y amies-paces' along' the corners. of members' IUT 'and- 39 to receive dirt; sand, etc., which' may ndits way'between'v theteles'copically intertted parts;Y

Thisf is'-` important as work manipulators' of, the;r class describedareusually operated insurround'-l ings'iwlier'e much sand; grit! and the lik'e are pres-- ent. The' two. clamp members I6 and 4ly also'a'idf in.' preventing dirt entering the parts. IU and' 39.

The KeysV on members I4 and 40'are adapted toiY enter-"members ICI-and'SS onl'yat'asing'le -predce 'ter-mine'd corner' off" each' member' between the' legst o'f the respective' clamping members I6? and*- The 'lf-shaped base li--|2;V and" the' arrange-fm'ent of th'e' column* i Ulf-14'? andfof arm 39-4 llrellatively thereto, provides a very compact' land' stable manipulator' which permits easy and come `plete access t'o the work.

When either'ofthelatch plungersZl and 4S i'sv released; itl will' snap` into-the next lockinghole This feature is desirable to'4 oflint'o part' I0 thereof as shown in Figure 7l We claim: f

1. A..Work manipulator 0f the class described comprising.. a T-slaped. ground engaging base', a vertical pedestal having telescopically intertted sections. all of` which are incapable o'f'relative' turningmovement while interiitt'ed :and the lower" one of which is xed atl its lower end to the bas'e atthe junction of thest'em and'crossmembers o'f thefpase, m'eansfor releasably holding. the pedestal' sections variably longitudinally adjusted. a" spindle .bearing fixed to and'extending across the' upperendiofithe upper section of. said pedestaL a spindlejiournaledin said bearing with the spindle inclined at an. angle. of `221/2 degrees to the:v

ground' engaging .planek of;l the. base. and lying in'v "a common verticallpla'ne. with the stem portion of.V the.y base with"Y the higher. end of the, spindle. overY said. stem p0rton,.a; straight arm.. having. teles copically intertted ysections .all of which are incapable. ofi'relative4 turning movementwhile inaterfitt'ed'andone of'which at one endofsaid arm is iixed'to the higher. endoflsaid inclined spindle..

means for releasa'bly holdingthe `arm sections -variably, longitudinally` adjusted; a second.' spindle 'bearing ii'xed to the otherendlsection ofsaid.arm,. a .sec'ondispindle journaled'insaidY secondlspindle bearing with the. spi-ndlenormal .to said arm, .andl a work holder 'heldto one end' ofthesecond spin-Y die` to rotate. therewithabout the axis. thereofV in. a planenormal tosaidsecond spindle, said armA extending at suchen angle to the first spindle that" the axes othe two spindles. intersect' lat an angle of 67 1/2 .degrees'throughout'the range of longitudinal extension ofsaid' arm and'v at' points' which-recede'irom said'lsecon'd spindle in responsef yto'extension'of said'arm.

2. A work manipulator of the class described comprising a pedestal having a fiatwise seatable base, a spindle bearing xed to the pedestal above said base, a spindle j ournaled in said bearing with the spindle held inclined by said bearing-at `a fixed angle of 22% degrees to the seating plane of said pedestal base, a straight longitudinally extensible arm having telescopically interfitted sections all of which are incapable of relative turning movement while interltted and one of which at one end of said arm is xed to that end of said inclined spindle which is farthest from the seating -plane of the pedestal base to rotate with said spindle, means for releasably holding said sections .of the arm Variably longitudinally adjusted, la second spindle bearing xed to the other end section of said arm, a second spindle journaled in said second spindle bearing.r with said spindle held normal to said arm by said bearing and projecting at one end of the spindle beyond said arm part way to the axis of the rst spindle, said arm extending at such an angle to the first spindle that the axes of the two spindles intersect at an angle of 671/2 degrees throughout the range of longitudinal extension of the arm and at -points which recede from said one end of the secon-d spindle in response to extension of the arm, and a work holder supported by said second spindle and held thereto to rotate therewith in a, plane normal thereto with the holder positioned at said one end of said second spindle with the axis of said spindle passing centrally through the holder.

3. A work manipulator, as claimed in claim 2, having means for locking the rst spindle against rotation in different selected rotated positions thereof in its bearing, and means for locking the second spindle `against rotation in different selected rotated ypositions thereof in its bearing. HAROLD P. BENTLEY. RALPH P. LA VONIER.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 289,179 Tregurtha Nov. 27, 1883 554,419 Hall Feb. 11, 1896 974,253 Forg Nov. 1, 1910 1,216,552 Dodge Feb. 20, 1917 1,275,311 Schumacher et a1. Aug. 13, 1918 1,349,633 Staley Aug. 17, 1920 1,453,901 Andersen May 1, 1923 1,495,894 Du Bois May 27, 1924 1,514,262 Santmyer Nov. 4, 1924 1,616,727 Williams Feb. 8, 1927 1,852,387 Wiedern Apr. 5, 1932 1,875,761 Power Sept. 6, 1932 1,907,846 Mandernack May 9, 1933 2,318,791 Mueller May 11, 1943 2,329,613 Hokanson et al Sept. 14, 1943 2,390,428 Disse Dec. 4, 1945 2,396,161 Cullen Mar. 5, 1946 FOREIGN PATENTS Number Country Date 179,616 Great Britain May 4, 1922 

